CN114162309B - Active sidebar system - Google Patents
Active sidebar system Download PDFInfo
- Publication number
- CN114162309B CN114162309B CN202111442992.XA CN202111442992A CN114162309B CN 114162309 B CN114162309 B CN 114162309B CN 202111442992 A CN202111442992 A CN 202111442992A CN 114162309 B CN114162309 B CN 114162309B
- Authority
- CN
- China
- Prior art keywords
- active
- control
- sidebar
- driving
- side lever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 19
- 230000006870 function Effects 0.000 claims description 29
- 238000013016 damping Methods 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 description 5
- 230000015556 catabolic process Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000006731 degradation reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009966 trimming Methods 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/042—Initiating means actuated personally operated by hand
- B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D43/00—Arrangements or adaptations of instruments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Mechanical Control Devices (AREA)
Abstract
The invention relates to the technical field of aircraft flight control, and discloses an active side lever system. The active side rod system comprises an upper computer, a plurality of active side rod devices and a plurality of control driving devices, wherein each active side rod device and each control driving device can be in communication connection, and the plurality of control driving devices and the upper computer can be in communication connection; each active side lever device comprises an active side lever head and a driving motor, and the driving motor can drive the active side lever head to act; the upper computer is configured to receive the state signals of the flight control computer and send control instructions to the plurality of control driving devices, so that the plurality of control driving devices respectively send driving signals to the driving motors corresponding to the control driving devices, and the linkage of the plurality of driving side lever heads can be realized to inform a pilot that the plurality of driving side lever heads are simultaneously operating the aircraft, and the variable gradient feeling force can be provided, so that the pilot can more truly feel the state of the aircraft.
Description
Technical Field
The invention relates to the technical field of aircraft flight control, in particular to an active side lever system.
Background
Currently, in actual operation of an aircraft, the human-sensing system of the aircraft comprises a spring-loaded passive sidestick system, which has a simple structure, so that the pilot has stable operation performance in actual operation.
However, the existing passive sidebar system has certain defects, because the spring is adopted for loading, when a pilot operates the passive sidebar, the sidebar force and the sidebar displacement are in a basically unchanged proportional relation, namely, the passive sidebar provides force sense of fixed gradient by virtue of the spring, so that the sidebar cannot accurately reflect the flight state of the aircraft after being operated to a certain degree, and the accurate and timely perception of the pilot on the flight state of the aircraft is reduced. In the actual operation of an aircraft, this places high demands on pilot experience.
Disclosure of Invention
In view of at least one of the above problems in the prior art, it is an object of the present invention to provide an active sidebar system that enables the linkage of multiple active sidebar tips to inform the pilot that multiple active sidebar tips are maneuvering the aircraft outside at the same time, yet also provides a variable gradient of feel so that the pilot can more realistically feel the aircraft condition.
In order to achieve the above object, the present invention provides an active side lever system, comprising a host computer, a plurality of active side lever devices and a plurality of control driving devices, wherein each active side lever device and each control driving device can be in communication connection, and a plurality of control driving devices and the host computer can be in communication connection; each active side lever device comprises an active side lever head and a driving motor, and the driving motor can drive the active side lever head to act; the upper computer is configured to receive a state signal of the flight control computer and send control instructions to the control driving devices, so that the control driving devices respectively send driving signals to the driving motors corresponding to the control driving devices, and linkage of the driving side lever heads can be achieved.
In this technical scheme, because each initiative side lever device includes driving motor, and each driving motor can drive the action of respective initiative side lever head, simultaneously, the host computer is configured to receive the status signal of flight control computer and send control command to a plurality of control drive arrangement, and a plurality of control drive arrangement send drive signal to respective corresponding driving motor respectively, in order to realize the linkage of a plurality of initiative side lever heads, in this way, the host computer can control a plurality of control drive arrangement, make each driving motor can control the linkage of respective initiative side lever head, thereby can inform the pilot that a plurality of initiative side lever heads are operating the aircraft simultaneously, because a plurality of control drive arrangement can control respective corresponding driving motor respectively, in this way, driving motor can provide the driving force of variable gradient, make each initiative side lever head can also provide the sensation of variable gradient, in order that the pilot can more true feel aircraft state.
Of course, it should be noted that, in the active sidebar system, instead of the plurality of active sidebar heads being capable of interlocking according to the control requirement, one of the plurality of active sidebar heads may be independently active according to the control requirement, while the other active sidebar heads are not active.
Further, each control driving device can collect a state signal of the corresponding driving motor, and a position signal and a rod force signal of the corresponding driving side rod head.
Still further, each of the control driving devices includes a controller and a driver, wherein each of the controllers is capable of transmitting a control signal to a respective corresponding one of the drivers based on the status signal, and each of the drivers is capable of transmitting a driving signal to a respective corresponding one of the driving motors based on the control signal.
Further, each driver can collect a state signal of the corresponding driving motor and feed the state signal back to the corresponding controller; the controllers can transmit the received state signals of the driving motors, the received position signals of the head of the driving side rod and the received rod force signals to the upper computer.
Further, a plurality of the control drives are capable of controlling the respective corresponding drive motors such that a plurality of the active sidebar devices have an active mode and a passive mode, wherein the active mode includes a linkage of a plurality of the active sidebar heads.
Still further, the active mode further includes at least one of: the method comprises the steps of simulating a plurality of functions of losing linkage faults of the active side lever heads, simulating the functions of losing lever force-lever displacement real-time adjustment and blocking faults, providing a vibrating lever and triggering and contacting according to flight states, providing a plurality of alarming functions of the active side lever heads under multiple input conditions, realizing a side lever back-driving follow-up function in an automatic flight mode, allowing a flight control computer to override the active side lever heads and providing increased override force in the automatic flight mode, and switching the authority of the active side lever heads.
Further, the upper computer is provided with a graphical user interface software and a data processing software, wherein the graphical user interface can perform parameter display, parameter adjustment and data monitoring, the data processing software can perform data communication, and the graphical user interface software and the data processing software can realize the adjustment function of the active mode, and the adjustment function comprises at least one of the following steps: the rod force-rod displacement is regulated in real time according to the flying state, the soft stop position is regulated, the starting force and damping characteristic is regulated, and the vibration rod frequency and amplitude is regulated.
Further, in the passive mode, each control driving device can control the corresponding driving motor to simulate elastic damping according to a preset elastic force displacement curve and a side lever position, so that the driving side lever head acts under the driving action of the simulated elastic damping provided by the driving motor, wherein the upper computer can output the elastic force sensing characteristic and the damping force sensing characteristic provided by the driving motor.
Further, the active side lever system comprises a flight control computer, wherein the upper computer is in communication connection with the flight control computer, and a lever head button signal and other preset signals of each active side lever device can directly bypass the control driving device to be transmitted to the upper computer and be transmitted to the flight control computer by the upper computer.
Further, the active sidebar system is used as an active sidebar test system for an aircraft.
It is apparent that the elements or features described in the above single embodiment may be used alone or in combination in other embodiments.
Drawings
In the drawings, the dimensions and proportions are not representative of the dimensions and proportions of an actual product. The figures are merely illustrative and certain unnecessary elements or features have been omitted for clarity.
FIG. 1 schematically illustrates a general schematic of an active sidebar system in accordance with one embodiment of the present invention;
FIG. 2 schematically illustrates a block diagram of an active sidebar system in accordance with one embodiment of the present invention;
FIG. 3 schematically illustrates a load transfer diagram of an active sidebar system in accordance with one embodiment of the present invention;
FIG. 4 schematically illustrates a control schematic of an active sidebar system in accordance with one embodiment of the invention;
FIG. 5 schematically illustrates a control flow diagram of an active sidebar system in accordance with one embodiment of the invention.
Description of the reference numerals
1-Upper computer, 2-initiative side lever device, 3-control drive arrangement, 4-flight control computer.
Detailed Description
The active sidebar system of the present invention will be described in detail below with reference to the accompanying drawings. What has been described herein is merely a preferred embodiment according to the present invention, and other ways of implementing the invention will occur to those skilled in the art on the basis of the preferred embodiment, and are intended to fall within the scope of the invention as well.
Referring to fig. 1 and 2, the active side lever system provided by the invention comprises an upper computer 1, a plurality of active side lever devices 2 and a plurality of control driving devices 3, wherein each active side lever device 2 and each control driving device 3 can be in communication connection, and the plurality of control driving devices 3 and the upper computer 1 can be in communication connection; each active side lever device 2 comprises an active side lever head and a driving motor, and the driving motor can drive the active side lever head to act; the upper computer 1 is configured to receive a status signal of the flight control computer and send control instructions to the plurality of control driving devices 3, so that the plurality of control driving devices 3 respectively send driving signals to the driving motors corresponding to the control driving devices, and linkage of a plurality of driving side lever heads can be achieved.
In this technical solution, since each active-side lever device 2 includes a driving motor, for example, a servo motor, and each driving motor is capable of driving the respective active-side lever heads to act, and at the same time, the upper computer 1 is configured to receive the status signal of the flight control computer 4 and send control instructions to the plurality of control driving devices, and the plurality of control driving devices respectively send driving signals to the respective corresponding driving motors, so that linkage of the plurality of active-side lever heads can be achieved, so that the upper computer can control the plurality of control driving devices, so that each driving motor can control linkage of the respective active-side lever heads, and thereby can inform the pilot that the plurality of active-side lever heads are simultaneously operating the aircraft, and at the same time, since the plurality of control driving devices can respectively control the respective corresponding driving motors, the driving motors can provide driving forces with variable gradients, so that each active-side lever head can also provide sensing forces with variable gradients, so that the pilot can sense the aircraft status more truly.
In addition, in the active sidebar system, referring to fig. 1 and 3, each control driving device 3 can collect the state signal of the corresponding driving motor, the position signal and the bar force signal of the corresponding active sidebar head, and can form closed loop control on the active sidebar device based on the signals, so that the functions of automatic flight, vibration bar, coupling linkage of a plurality of active sidebar heads, simultaneous input of warning of a plurality of active sidebar heads and the like of the active sidebar system can be realized.
In addition, referring to fig. 1 and 2, each control driving device 3 includes a controller and a driver, where the controller may be Flexii controllers, and the controller has functions of managing and scheduling channels of the load system, and performing functions of application and data communication of the bottom layer of the load system. The driver can be a Pac-et alternating current servo driver, and has the functions of receiving Flexii controller signals, driving a servo motor to operate, collecting I/O and servo motor state signals and feeding the signals back to the controller. For example, in fig. 2, two active sidebar heads are provided as left and right active sidebar heads, and two control drives 3 are provided accordingly, i.e. one control drive 3 comprises a channel 1 controller and a channel 1 driver, and the other control drive 3 comprises a channel 2 controller and a channel 2 driver, wherein each controller is capable of sending control signals to a respective corresponding driver based on status signals, and each driver is capable of sending drive signals to a respective corresponding drive motor based on control signals. Thus, the respective controllers can control not only the respective driving motors, as shown in fig. 1, but also each active sidebar device 2 to issue pitch and roll commands to other external devices in RVDT signals. While PTT and other signals at the end of the active-side bar of each active-side bar device 2 are sent by electrical signals to the host computer and to the flight control computer in the form of ARINC429, ethernet, etc.
For example, one embodiment of an active sidebar system is shown in FIG. 1: the servo motor is arranged in the left side rod box and the right side rod box, the driver/controller receives the status signal from the flight control computer, sends out a driving signal to the left/right side rod box, receives the position signal and the rod force signal in the side rod box to form a closed loop, realizes the functions of automatic flight, vibration rod, left-right coupling linkage, left-right double input warning and the like, and sends out pitching and rolling instructions to other external equipment by RVDT signals. The PTT and other signals of the active side rod end are sent to the upper computer through electric signals and sent to the flight control computer through ARINC429, ethernet and the like. When a degradation command is received, the left side rod and the right side rod return under the action of spring damping simulated by the servo motor, complete flight control damping is provided, and the RVDT signals provide rolling and pitching signals outwards. When the blocking occurs (the servo motor is in a locking state in the test piece), the left side rod and the right side rod are blocked at the current position, the side rods are used as force feedback rod modes at the moment, and the control force on the side rods is collected to send rolling and pitching signals to the flight control computer. The driving side rod can provide continuous channels (the side rod has two channels of pitching and rolling), which are not less than 160N (taking the central point of the position of the holding rod as a reference point), and can load in real time according to flight state information, control the stroke not less than plus or minus 25 degrees of each channel, and provide soft limit to adjust the stroke. In addition, in fig. 1, the upper computer may be configured by an industrial personal computer with an ARINC429 board card and an ethernet card, and active side lever control software is deployed in the upper computer. In addition, the controller and the servo driver can adopt a standard RJ45 EtherCAT for communication, the controller and the driver are sequentially connected onto a bus in a serial mode, and the controller is connected onto one end of the bus in a hanging mode as a master station. The controller and the upper computer can communicate by adopting a standard RJ45Ethernet gigabit Ethernet.
For example, referring to fig. 3, the active sidebar system is a force loading system, and the pilot applied stick force and stick displacement are fed back to the driver of the control actuator 3 via sensors, and the theoretical position and theoretical stick force are calculated via the underlying model of the control actuator 3. The force sensor installed between the amplifying device and the front-end system as a measuring force feedback signal performs a force closed loop function via the Flexii system (controller controlling the driving device 3). The Flexii system sends control parameters to the driver through the EtherCAT bus to control the torque output of the motor (driving motor, such as a servo motor), wherein the front end system (front cabin system) is as follows: the pilot controls the control devices of the aircraft control surfaces, such as elevator control rods, pedals, horizontal trim handles, etc.
In addition, referring to fig. 1,2 and 3, each driver is capable of collecting a status signal of a respective corresponding driving motor and feeding back to a corresponding controller; in this way, the driver of each control drive 3 is able to collect the status signals of the respective drive motor, as well as the position signals and the bar force signals of the respective active-side bar head, and to transmit these signals to the respective controller, which is able to form a closed-loop control of the active-side bar device based on these signals. Meanwhile, the controllers can transmit the received state signals of the driving motors, the position signals of the head of the driving side lever and the lever force signals to the upper computer 1, so that the upper computer 1 can transmit the signals to the flight control computer, and the flight control computer can further send control signals to each controller through the upper computer 1 based on the signals and real-time flight requirements to further control each driving motor in real time. For example, when a degradation command is received, the left and right active side bars return to the center under the action of the spring damping simulated by the respective servo motors and provide complete flight maneuvering damping, at which time roll and pitch signals can be provided outwardly via the RVDT signals. When the blocking occurs (the servo motor is in a locking state), the left and right driving side rods are blocked at the current position, at the moment, the driving side rods are used as force feedback rod modes, and the control force on the driving side rods is collected to send rolling and pitching signals to the flight control computer.
For example, referring to fig. 4, the active side lever system adopts a position and moment double closed loop control structure, comprehensively controls the lever position and lever force of the active side lever, outputs high-quality lever position and lever force, and maximally ensures the steering quality. The control driving device 3 receives control instruction parameters set by the flight control computer, including mode selection, force magnitude and type, stopping point and the like. The force/position core processing module collects the force sensor and position sensor data in real time and generates a control lever force and a control lever position control signal of the driving side lever according to the corresponding modes. Meanwhile, according to the coupling or decoupling signals, the control signals of the actuating mechanisms of the corresponding active side lever devices 2 are adjusted, so that the positions of the control levers, the forces of the control levers and the coupling linkage control are realized.
In addition, in the active sidebar system, the plurality of control driving devices 3 can control the respective corresponding driving motors so that the plurality of active sidebar devices 2 have an active mode and a passive mode, wherein the active mode includes the linkage of the plurality of active sidebar heads. Thus, the active side lever system can realize two modes, namely an active mode and a passive mode, and when the active mode is degraded to the passive mode, the active side lever system is controlled by adopting the passive mode. In this way, the active sidebar system is able to perform all the functions of both the active sidebar and the passive sidebar. For example, in the passive mode, the active sidebar system can have the same visual notification of the crew operation authority as the passive sidebar system and the function of notifying both crew members of the crew through the alert tone to operate the aircraft at the same time.
In addition, in the active sidebar system, the active mode further includes at least one of: simulating the functions of a plurality of active side lever heads to lose linkage fault, simulating the functions of losing lever force-lever displacement real-time adjustment and blocking fault, providing a vibrating lever and triggering and contacting according to the flying state, providing the alarming function of a plurality of active side lever heads for multiple input conditions the method comprises the steps of realizing a side lever back-driving follow-up function in an automatic flight mode, allowing an flight control computer to override the side lever back-driving follow-up function in the automatic flight mode and providing an increased override force, and switching the authority of a plurality of active side lever heads.
In addition, the upper computer 1 is provided with a graphic user interface software and a data processing software, wherein the graphic user interface can perform parameter display, parameter adjustment and data monitoring, the data processing software can perform data communication, and the graphic user interface software and the data processing software can realize an adjustment function of an active mode, and the adjustment function comprises at least one of the following: the rod force-rod displacement is regulated in real time according to the flying state, the soft stop position is regulated, the starting force and damping characteristic is regulated, and the vibration rod frequency and amplitude is regulated. For example, the bar force displacement curve can be modified in real time through a graphical user interface, so that different bar force simulations can be realized, and the concrete implementation modes are as follows: the adjustment of the rod force of the driving side rod is realized in two ways, firstly, the slope of the spring force simulated by the motor under different displacement angles of the side rod is adjusted by arranging a plurality of sections of springs, and the adjustment of the rod force under different displacements is realized; secondly, the damping force is set, so that the adjustment of the rod force under different side rod moving speeds (the damping force is in direct proportion to the speed) is realized. For another example, the regulation of the limit range of the side rod can be realized through the servo motor, so that the side rod can be regulated in the mechanical limit range, and different soft stop clamping positions can be realized, and the specific realization mode is as follows: setting the front limit position angle and the rear limit position angle of the side rod, and adjusting the rigidity force applied to the side rod by the motor under the angle to be a large value to realize that the side rod cannot move continuously after reaching the set limit position angle.
In addition, in the passive mode, each control driving device 3 can control the corresponding driving motor to simulate elastic damping according to a preset elastic force displacement curve and the position of the side lever, so that the head of the active side lever acts under the driving action of the simulated elastic damping provided by the driving motor, wherein the upper computer 1 can output the elastic force sensing characteristic and the damping force sensing characteristic provided by the driving motor.
In addition, referring to fig. 1, the active side bar system includes a flight control computer 4, wherein the upper computer 1 and the flight control computer 4 are in communication connection, wherein the head button signal and other preset signals of each active side bar device 2 can be directly transmitted to the upper computer 1 by bypassing the control driving device 3, and transmitted to the flight control computer 4 by the upper computer 1.
Referring to fig. 5, the active side lever system is powered on and then self-inspected, and if the system has no fault, initial parameters are loaded, and meanwhile, the active side lever system is connected to the flight control computer in a communication mode. After the initialization of the parameters and the communication is completed, the system executes the zero searching operation. When the system returns to zero, the system defaults to a frozen mode. At this point, the joystick of the active sidebar is fixed at the zero position and the system is in a wait command state. At this time, the flight control computer selects a mode, performs a corresponding function according to the corresponding mode, and can switch between the modes.
When the system is in the normal mode, the system loads the corresponding lever force according to the set friction force, spring force, starting force, damping force, etc. In the conventional loading, if the system detects a trimming command, trimming operation is carried out according to the trimming speed given by the flight control computer;
if the flight control computer gives a tremble bar enabling command, the system loads the tremble bar force function according to the amplitude and the frequency given by the flight control computer;
if the flight control computer issues an automatic flight command, the system carries out automatic flight according to the automatic flight speed given by the flight control computer. If operators intervene in the automatic flight process, manual control can be performed only by the fact that the operating force is larger than the breaking force. When the force of manual control is smaller than the breakthrough force, continuing to execute the automatic flight operation; the system judges whether the system is in a double-input state or not by detecting the states of the force sensors of all channels (such as the channel 1 and the channel 2), and gives a warning if the system is in the double-input state; if the flight control computer gives a degradation instruction, the degradation is performed to a passive mode. When the active mode is degraded to the passive mode, the active side lever device 2 simulates the control force lever of the passive mode through an internal algorithm, so that the servo motor is driven to work.
Finally, the active side lever system provided by the invention can be used for actual aircraft flight control or can be used for simulating an active side lever test system of an actual aircraft, so that the active side lever technology of the aircraft can be studied, for example, various hardware interfaces of the active side lever system, such as various communication interfaces of USB, ARINC429, RVDT, ethernet and the like, can be crosslinked with airborne hardware and other cockpit simulation platforms, and can evaluate the lever force characteristics, the active control law, the man-machine interaction characteristics and the like of the active side lever in a real cockpit environment.
The scope of protection of the invention is limited only by the claims. Those skilled in the art, having the benefit of the teachings of this invention, will readily recognize alternative constructions to the disclosed structure as viable alternative embodiments, and the disclosed embodiments may be combined to create new embodiments that fall within the scope of the appended claims.
Claims (10)
1. An active side lever system is characterized by comprising an upper computer (1), a plurality of active side lever devices (2) and a plurality of control driving devices (3), wherein,
Each active side lever device (2) and the corresponding control driving device (3) can be in one-to-one communication connection, and a plurality of control driving devices (3) and the upper computer (1) can be in communication connection;
each active side lever device (2) comprises an active side lever head and a driving motor, and the driving motor can drive the active side lever head to act;
The upper computer (1) is configured to receive a status signal of the flight control computer and send control instructions to the control driving devices (3), so that the control driving devices (3) respectively send driving signals to the driving motors corresponding to the control driving devices, and linkage of the driving side lever heads can be achieved.
2. Active sidebar system according to claim 1, characterized in that each control drive (3) is able to acquire a status signal of the respective corresponding drive motor, as well as a position signal and a bar force signal of the respective corresponding active sidebar head.
3. The active sidebar system according to claim 2, wherein each of said control drives (3) comprises a controller and a driver, wherein each of said controllers is capable of sending control signals to a respective corresponding one of said drivers based on said status signals, and each of said drivers is capable of sending drive signals to a respective corresponding one of said drive motors based on said control signals.
4. The active sidebar system of claim 3, wherein each of said drivers is capable of capturing a status signal of a respective corresponding said drive motor and feeding back to a corresponding said controller;
the controllers can transmit the received state signals of the driving motor, the received position signals of the head of the driving side rod and the received rod force signals to the upper computer (1).
5. The active sidebar system according to claim 1, wherein a plurality of said control drives (3) are capable of controlling respective corresponding said drive motors such that a plurality of said active sidebar devices (2) have an active mode and a passive mode, wherein said active mode comprises a linkage of a plurality of said active sidebar heads.
6. The active sidebar system of claim 5, wherein the active mode further comprises at least one of: the method comprises the steps of simulating a plurality of functions of losing linkage faults of the active side lever heads, simulating the functions of losing lever force-lever displacement real-time adjustment and blocking faults, providing a vibrating lever and triggering and contacting according to flight states, providing a plurality of alarming functions of the active side lever heads under multiple input conditions, realizing a side lever back-driving follow-up function in an automatic flight mode, allowing a flight control computer to override the active side lever heads and providing increased override force in the automatic flight mode, and switching the authority of the active side lever heads.
7. The active sidebar system according to claim 5, wherein the host computer (1) has graphical user interface software and data processing software, the graphical user interface being capable of parameter display, parameter tuning and data monitoring, the data processing software being capable of data communication, wherein the graphical user interface software and data processing software are capable of implementing the active mode tuning functions, the tuning functions comprising at least one of: the rod force-rod displacement is regulated in real time according to the flying state, the soft stop position is regulated, the starting force and damping characteristic is regulated, and the vibration rod frequency and amplitude is regulated.
8. The active sidebar system according to claim 5, wherein in the passive mode, each control driving device (3) can control the corresponding driving motor to simulate elastic damping according to a preset elastic force displacement curve and sidebar position, so that the active sidebar club head acts under the driving action of the simulated elastic damping provided by the driving motor, wherein the upper computer (1) can output the elastic force sensing characteristic and the damping force sensing characteristic provided by the driving motor.
9. The active sidebar system according to claim 1, characterized in that it comprises a flight control computer (4), wherein the upper computer (1) is in communication with the flight control computer (4), wherein the head button signal and other preset signals of each active sidebar device (2) can be transmitted directly to the upper computer (1) bypassing the control drive device (3) and transmitted by the upper computer (1) to the flight control computer (4).
10. The active sidebar system of any one of claims 1-9, for use as an active sidebar test system for an aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111442992.XA CN114162309B (en) | 2021-11-30 | 2021-11-30 | Active sidebar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111442992.XA CN114162309B (en) | 2021-11-30 | 2021-11-30 | Active sidebar system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114162309A CN114162309A (en) | 2022-03-11 |
| CN114162309B true CN114162309B (en) | 2024-06-04 |
Family
ID=80481893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111442992.XA Active CN114162309B (en) | 2021-11-30 | 2021-11-30 | Active sidebar system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114162309B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115862425A (en) * | 2022-12-26 | 2023-03-28 | 北京东方瑞丰航空技术有限公司 | Aircraft simulation control load system and simulation method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2196588A (en) * | 1986-09-12 | 1988-05-05 | Messerschmitt Boelkow Blohm | Rudder control arrangement for aircraft |
| US5456428A (en) * | 1993-07-21 | 1995-10-10 | Honeywell Inc. | Mechanically linked active sidesticks |
| GB2482409A (en) * | 2010-07-28 | 2012-02-01 | Woodward Mpc Inc | Indirect drive active control column |
| CN105700615A (en) * | 2016-02-25 | 2016-06-22 | 南京航空航天大学 | Airplane active side lever system |
| CN108873919A (en) * | 2018-06-08 | 2018-11-23 | 上海交通大学 | Civil aircraft people is in circuit system, active side lever servo tracking control system and method |
| CN111055998A (en) * | 2019-12-31 | 2020-04-24 | 中国航空工业集团公司沈阳飞机设计研究所 | Active control method and device for airplane steering column |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9399511B2 (en) * | 2014-04-01 | 2016-07-26 | Bell Helicopter Textron Inc. | Rotorcraft fly-by-wire control laws |
| US11014648B2 (en) * | 2017-04-17 | 2021-05-25 | Textron Innovations, Inc. | Interconnected sidesticks for fly-by-wire flight control |
-
2021
- 2021-11-30 CN CN202111442992.XA patent/CN114162309B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2196588A (en) * | 1986-09-12 | 1988-05-05 | Messerschmitt Boelkow Blohm | Rudder control arrangement for aircraft |
| US5456428A (en) * | 1993-07-21 | 1995-10-10 | Honeywell Inc. | Mechanically linked active sidesticks |
| GB2482409A (en) * | 2010-07-28 | 2012-02-01 | Woodward Mpc Inc | Indirect drive active control column |
| CN105700615A (en) * | 2016-02-25 | 2016-06-22 | 南京航空航天大学 | Airplane active side lever system |
| CN108873919A (en) * | 2018-06-08 | 2018-11-23 | 上海交通大学 | Civil aircraft people is in circuit system, active side lever servo tracking control system and method |
| CN111055998A (en) * | 2019-12-31 | 2020-04-24 | 中国航空工业集团公司沈阳飞机设计研究所 | Active control method and device for airplane steering column |
Non-Patent Citations (1)
| Title |
|---|
| 采用被动侧杆的民机设计中的人为因素考虑;李林;王镭;;民用飞机设计与研究(第02期);67-69 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114162309A (en) | 2022-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8080966B2 (en) | Motor control architecture for simultaneously controlling multiple motors | |
| US6695264B2 (en) | Power lever tactile cueing system | |
| US9004921B2 (en) | Motion and vibration cuing system | |
| US6679458B2 (en) | Split detent tactile cueing vehicle control system | |
| US10553127B1 (en) | Dynamic motion seat | |
| CN108502196B (en) | Reverse tactile cues for rotorcraft rotor overspeed protection | |
| US20120053762A1 (en) | Inceptor system and apparatus for generating a virtual real-time model | |
| EP3620373A1 (en) | Stuck in detent monitors for collective and cyclic sticks | |
| CN114162309B (en) | Active sidebar system | |
| CN108873919B (en) | Civil robot in-loop system, active side rod servo tracking control system and method | |
| CN104176242A (en) | System And Method For Controlling An Aircraft | |
| CN109839948B (en) | Systems and methods for pilot control sensing in a rotorcraft | |
| CN110498054B (en) | Systems and methods for haptic cues using variable friction and force gradients | |
| US11634236B2 (en) | Pilot interface for aircraft autothrottle control | |
| CN110647160A (en) | Flight control method and device for aircraft | |
| CN110667826B (en) | High-lift distributed telex control system | |
| CN115862425A (en) | Aircraft simulation control load system and simulation method | |
| EP3547287B1 (en) | Vr emulator using galvanic vestibular stimulation devices | |
| CN116424548B (en) | Electric proportional flight control system, control method and application | |
| CN115246476A (en) | Cockpit control mechanism, airplane control system, control method of airplane control system and airplane | |
| DE102010022200A1 (en) | Joystick System | |
| CA2408706C (en) | Power lever tactile cueing system | |
| CN116882208B (en) | Disengageable function simulation system and method for load control system | |
| US20240017820A1 (en) | Error Monitors for Collective and Cyclic Sticks | |
| Röben | An innovative all-active hybrid actuation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |